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*  Author: Pedro Patron
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*********************************************************************/

#ifndef _OSLCORE_CHRONO_H_
#define _OSLCORE_CHRONO_H_

// ================================================================== includes
#ifdef WIN32
	#include <cc++/thread.h>
#else
	#include <sys/time.h>
	#include <unistd.h>
#endif

#include <stdint.h>
#include <boost/shared_ptr.hpp>

#include <ros/ros.h>
#include <ros/time.h>

namespace osl_core
{
// ===================================================================== class
/**
 *	Gives time in microseconds or milliseconds since the last reset.
 */
class Chrono
{
public:
	//! Constructor
	Chrono();

	//! Destructor
	~Chrono();

	//! Initializes clock
	void		Reset();

	//! Read clock in microseconds.
	uint32_t	Read();

	//! Read clock in milliseconds.
	uint32_t	ReadMs();

	//! Read clock in microseconds and then Reset
	uint32_t	ReadAndReset();

	//! Read clock in milliseconds and then Reset
	uint32_t	ReadMsAndReset();

protected:

	ros::Time init_time;
	ros::Time read_time;
};

typedef boost::shared_ptr<Chrono> ChronoPtr;

} // namespace

#endif
